Methods and systems for estimating motion of a vehicle are provided. Radar data pertaining to one or more stationary objects in proximity to the vehicle are obtained via one or more radar units of the vehicle. The motion of the vehicle is estimating using the radar data via a processor of the vehicle.

A detection method implementing an FMCW waveform is provided, the emitted waveform is formed of a recurring pattern of given period Tr covering an emission frequency band of given width B, each pattern being divided into a given number P of sub-patterns of duration Tr/P covering an excursion frequency band F=B/P, the sub-patterns being mutually spaced by a frequency interval equal to F. The radar performs: a first distance-compression processing operation carrying out a low-resolution distance compression at the scale of each recurring pattern on a fraction B/P of the emission band of width B corresponding to the frequency band covered by each of the sub-patterns; a Doppler processing operation on a given number N of successive recurrences so as to form P ambiguous distance-Doppler maps of low distance resolution, the maps being segmented into various speed domains; a second distance-compression processing operation of resolution that differs depending on the speed domain to which the relative speed of the target with respect to the radar belongs.

Systems and methods for using velocity measurements to adjust Doppler filter bandwidth are provided herein. In certain embodiments, a method for adjusting bandwidth for at least one Doppler filter in a Doppler beam sharpened radar altimeter comprises receiving a velocity measurement; adjusting the bandwidth of the at least one Doppler filter based on the velocity measurement; and transmitting a radar beam, wherein the radar beam is aimed toward a surface. The method further comprises receiving at least one reflected signal, wherein the at least one reflected signal is a reflection of the radar beam being reflected off of at least one portion of the surface; and filtering the at least one reflected signal with the at least one Doppler filter to form at least one Doppler beam.

A method and a device for determining the position of a vehicle, said method comprising the steps: recording sensor data from the ground over which the vehicle travels; extracting ground characteristics of the ground over which the vehicle travels from the recorded sensor data or from occupancy grids which are calculated on the basis of the sensor data; determining the current position of the vehicle on the basis of the extracted ground characteristics using a characteristic map.

A method for determining speed over ground of a heavy-duty vehicle includes configuring a ground-penetrating radar transceiver with a main transmission lobe, detecting a Doppler frequency associated with a target point at a distance below a road surface, and determining the speed over ground of the heavy-duty vehicle based on the detected Doppler frequency.

A radio device includes a radio frequency (RF) unit and a surface-mountable antenna module coupled to the RF unit via an electrical connector. The RF unit includes first transmit circuitry, first receive circuitry, and a processing unit, and the surface-mountable antenna module includes a housing, second receive circuitry, and second transmit circuitry. During a calibration procedure, the RF unit is configured to output a calibration RF signal via the electrical connector, receive a first bitstream representing a sampled calibration signal via the electrical connector, and determine a time delay associated with the electrical connector based on the digitized calibration signal and the first bitstream. During the calibration procedure, the surface-mountable antenna module is configured to receive the calibration RF signal via the electrical connector, sample the calibration RF signal to generate the sampled calibration signal, and output the sampled calibration signal via the electrical connector as the first bitstream.

A computer implemented method for determining a road friction condition associated with at least one wheel on a heavy-duty vehicle includes transmitting a radar signal by at least one polarimetric radar transceiver towards a surface supporting the vehicle, and receiving backscatter from the transmitted radar signal, where the radar signal comprises a first polarization component and a second polarization component different from the first polarization component, processing the received backscatter by a processing device to determine a friction parameter related to the road friction condition of the surface, monitoring the friction parameter over time to detect change in the friction parameter, and in case change in the friction parameter is detected, triggering friction estimation by a secondary physical friction estimation system.

Provided are methods, systems, and computer program products for lane keep tracking and/or localization of a vehicle using a radar to detect metallic particles in paint applied to lane markings or curb markings. An example method may include: causing a radar system of a vehicle to output radio waves; receiving a radar image from the radar system corresponding to returned radio waves; determining a portion of the radar image includes lane or curb markings, wherein the lane or curb markings are embedded with metallic particles; and determining a location of the vehicle based at least in part on the determined portion of the radar image that includes the lane or curb markings.

A computer-implemented method for motion estimation of a vehicle is disclosed. The method includes performing a first preliminary motion estimation based on radar sensor data, performing a second preliminary motion estimation based on inertial measurement unit sensor data, and determining a motion estimation for the vehicle as a weighted average of the first and second preliminary motion estimations. The weighted average is determined by application of a dynamically varying weighting. The weighting may vary dynamically based on one or more of: a speed of the vehicle, an ambient temperature of the vehicle, an ambient humidity of the vehicle, and an activity level of windscreen wipers of the vehicle.